CN101321302A - Three-dimensional real-time acquisition system based on camera array - Google Patents
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Abstract
The invention provides a three-dimensional real-time obtaining system based on camera array, comprising four parts of a video acquisition system, a signal transmission system, a data process system and a data fusion system. The video acquisition system acquires image information in scenes by using the camera array, encodes the acquired each frame of image information acco0ridng to time series, conveys it to the data process system by the signal transmission system to calculating the three-dimensional information in the scenes, and transmits it to the data fusion system by the network so as to fuse the three-dimensional data into well-determined three-dimensional data in a full scene.
Description
Technical field
The present invention relates to a kind of three-dimensional and obtain technology, refer in particular to a kind ofly based on video camera array, can obtain the three-dimensional of three-dimensional information in real time and obtain system, its application target be with great visual angle, applications such as big object and dynamic scene.
Background technology
It is the hot issue of current vision research that the three-dimensional information of scene obtains, but the whole bag of tricks is generally perfect inadequately.At first, have a lot of 3-D views based on single camera, twin camera and video camera array to obtain technology, the shortcoming of these technology is that robustness is not high, and the operand of these specification requirements is very big, even FA processing unit also is difficult to reach real-time processing.
The TOF technology is the advanced technology of obtaining the scene three-dimensional information that a kind of latest developments are got up.This technology detects its phase difference by the modulated infrared irradiation scene of emission when receiving the infrared ray that scene reflectivity returns, determine the three-dimensional information of scene, because do not need a large amount of computings, this method can realize processing in real time.But it is lower that its shortcoming is a spatial resolution.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, by setting up array stereo visual system based on stereoscopic vision and TOF technology, and utilize the complementation of these two kinds of technology, and overcome the shortcoming of technology separately, a kind of three-dimensional real-time acquisition system based on video camera array has been proposed.This system at first obtains the initial value of the lower scene three-dimensional information of spatial resolution in real time by the TOF video camera, again by mapping with optimize, finally obtain real-time high-resolution scene three-dimensional information.
For realizing above-mentioned technical purpose, the technical solution used in the present invention is as follows:
Three-dimensional real-time acquisition system based on video camera array of the present invention comprises following four parts:
Video acquisition system adopts video camera array to gather the image information of scene, and each frame image information of gathering is encoded according to time series, and system is sent to data handling system by signal forwarding;
Data handling system is carried out real-time stereoscopic vision to the signal that collects and is handled, and calculates the three-dimensional data information of scene, is sent to data fusion system by network;
The signal forwarding system is forwarded to the image information that collects in the corresponding data handling system, and the operating state of control of video acquisition system;
Data fusion system on the basis of the three-dimensional data information of the different visual angles scene that has obtained, is fused to these three-dimensional datas the three-dimensional data of only definite whole audience scape.Wherein:
Video acquisition system can be a planar array by a plurality of high-resolution cameras and an array of forming than low spatial resolution TOF video camera, also can be the camber array or the array of topological structure arbitrarily, finishes the purpose of gathering video image information.Every high-resolution camera has a video acquisition unit, under the control of the synchronous control unit in the signal forwarding system, gathers the array video view data.The control signal that needs the array video view data that sends and need to receive is transmitted by LVDS serial deserializer.The benefit of LVDS serial deserializer is to convert parallel signal to serial signal, simplified design, and after line number signal reduces, can pass through transmission line and signal forwarding system communication more easily.
The premiere feature of signal forwarding system is that the vedio data that utilizes signal repeater that each high-resolution camera in the video acquisition system is collected sends in the processor of corresponding data handling system.Secondly, a synchronous control unit is arranged in the signal forwarding system, it can produce the synchronizing signal of all high-resolution cameras under the control of core processor on the data handling system and TOF video camera, and is forwarded in every high-resolution camera by signal repeater.At last, be provided with slot above it, be used for fixing the processor system in the data handling system.
The chief component of data handling system is the processor corresponding to each high-resolution camera, and wherein core processor also is responsible for the control unit in the control signal repeater system.All processors interconnect by network and with the TOF camera communication, also receive the vedio data of relevant several the high-resolution cameras that transmit by LVDS serial deserializer.The following mode of these processor adopting calculates the three-dimensional information of scene:
At first, need demarcate, determine the accurate relative position between each video camera high-resolution camera and TOF video camera array.The present invention adopts the scaling method of single camera earlier, obtains the inside and outside parameter of all video cameras respectively; Coordinate by same flat board is tied to the coordinate transform between video camera separately again, sets up the position relational matrix between the video camera.In the hope of parameter is an initial value again, considers the distortion factor, utilizes global optimization's method to try to achieve optimal solution.
Then, do registration between TOF video camera and all high-resolution cameras.Require TOF video camera and each high-resolution camera on the common space that is covered, to reach strict corresponding relationship, by this corresponding relation, the depth information of TOF video camera is mapped to the stereo visual system that all high-resolution cameras are formed, and utilize stereo visual system, further optimize depth information.When registration, the corresponding high-resolution camera of every processor in the data handling system, and receive the data of many high-resolution cameras and the TOF video camera of near zone respectively by the signal forwarding system, by kilomega network and other processor swap data.Utilize the vedio data of many high-resolution cameras of depth information that the TOF video camera shone upon and near zone,, obtain the high-resolution three-dimension information of every high-resolution camera field of view through corresponding boundling computing.Adopt many high-resolution cameras, can obtain the three-dimensional information of scene with great visual angle.
Data fusion system mainly is a background processor.It receives in the data handling system three-dimensional information at the pairing high-resolution camera visual angle that every processor sends by kilomega network, and they are integrated into complete unique global scene three-dimensional geometry data.
The rectangle video camera array that we take at first obtains the initial value of the lower scene three-dimensional information of spatial resolution by the TOF video camera.Principle according to computer vision, these initial values are mapped on the resulting image of high-resolution camera, utilize the correlation between the view data that the array high-resolution camera obtained to carry out global optimization, obtain the three-dimensional information of high-resolution scene accurately at last.
Stereopsis algorithm of the present invention and traditional solid matching method are also different, it is by position relational matrix and principle of stereoscopic vision between the video camera, under the condition that high reliability ID figure is arranged, with the image registration transformation function as transforming function transformation function about the depth information variable, by image registration, directly ask depth map, rather than disparity map.Because high reliability ID figure is arranged, add some useful constraintss of stereoscopic vision, therefore obtain efficient and high-precision image registration results easily.So just can overcome the solid coupling amount of calculation that occurs in the conventional stereo vision big, be easy to generate problem such as mistake coupling.And, adopt many processors, handle the part zone of the scene image that obtains by video camera array respectively, improved operation efficiency, can well gather high-resolution scene three-dimensional information in real time.
Description of drawings
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, a preferred embodiment cited below particularly, and conjunction with figs. are described in detail as follows:
Fig. 1 represents the three-dimensional real-time acquisition system schematic diagram based on 2 * 3+1 video camera array.
Fig. 2 represents the topological structure of 2 * 3+1 video camera array.
Fig. 3 represents the overall system diagram of present embodiment.
Fig. 4 represents the structured flowchart of each high-resolution camera in the video acquisition system of present embodiment.
Fig. 5 represents the structured flowchart of the information repeater system of present embodiment.
Fig. 6 represents in the signal forwarding system of present embodiment the structured flowchart with respect to a high-resolution camera.
Fig. 7 represents the structured flowchart of the signal forwarding system of present embodiment.
Embodiment
Fig. 1 represents the system schematic of the embodiment of the invention.In the present embodiment, adopt six cmos cameras and a TOF video camera as video acquisition system.Six dsp processors adopt the media of kilomega network as exchanges data and transmission as data handling system, use the PC platform as data fusion system.
Fig. 2 represents the topological structure of the video acquisition system of the embodiment of the invention.Video camera array in the video acquisition system adopts the topological structure of (2*3+1).Six high-resolution cameras are distributed on four summits and long limit mid point of a rectangle, and a TOF position for video camera is in the center of this rectangle.Each high-resolution camera is a dsp processor in the corresponding data treatment system all.
The depth information of TOF video camera is mapped in the stereo visual system of all high-resolution cameras compositions, and, the image registration transformation function as the transforming function transformation function about the depth information variable, by image registration, is directly asked depth map as ID figure.When doing registration Algorithm, solid coupling (dsp system at C2 is carried out computing) for C2, the data of C1, C5 and C3 camera acquisition all can participate in handling, the solid coupling that is equivalent to many baselines, finally try to achieve the depth map when making C2 and C1, C5 and C3 reach total optimum Match, wherein C2 requires high resolution image data, and other video camera only needs low resolution image data; Equally for the solid coupling of C5, the data of C2, C4 and C6 camera acquisition all participate in handling, and finally try to achieve the depth map when making C5 and C2, C4 and C6 reach total optimum Match; For the solid coupling of C1, the data of C2 and C4 camera acquisition all participate in handling; For the solid coupling of C3, the data of C2 and C6 camera acquisition all participate in handling equally; For the solid coupling of C4, the data of C1 and C5 camera acquisition all participate in handling; For the solid coupling of C6, the data of C3 and C5 camera acquisition all participate in handling.
Fig. 3 represents the entire block diagram of the hardware designs of the embodiment of the invention.The image information of six high-resolution camera collections and synchronizing signal are transferred to the signal forwarding system by A1-A6 respectively.The synchronizing signal of TOF video camera is transferred to the signal forwarding system by P.Image information is by six DSP of C1-C6 from the signal forwarding system transmissions to data handling system.Wherein, DSP-3 is core DSP, and it also sends control information in the signal forwarding system by D1.Under the control of these information and TOF video camera synchronizing signal, the signal forwarding system produces the synchronizing signal to six high-resolution cameras, is transferred to six high-resolution cameras by B1-B6.TOF video camera and all dsp processor can be by N0-N6 by the kilomega network swap datas, and the scene three-dimensional data that is calculated by kilomega network transmission DSP by N7 is to data fusion system.
Fig. 4 is the structure chart of every high-resolution camera in the video acquisition system of the embodiment of the invention.Every high-resolution camera is by a slice CMOS sensitive chip, and a slice LVDS chip and a RJ45 network interface are formed.The CMOS sensitive chip under the control of control signal, is gathered scene image information by optical principle, and corresponding signal is sent on the LVDS serial deserializer.LVDS is responsible for transmitting the control signal of CMOS chip and accepts data message and the synchronizing signal that the CMOS chip is gathered.It can convert 16 parallel transmission-lines to 2 LVDS line transmission signals, and the space has been saved in brief greatly design.The RJ45 network interface is responsible for transmitting the input and output serial signal of LVDS in the signal forwarding system.
Below, introduce the function of each signal of interest line.
Send signal:
DO-and DO+ are that LVDS sends signal, and RIN-and RIN+ are the LVDS received signals.
DC_OUT[9:0] be the view data of ten parallel-by-bits, be the view data that the CMOS chip is gathered.
LAST_LINE is a frame synchronizing signal, PIXEL_VALID is a data output useful signal, TIME_OUT is the exposed frame end signal, the CPLD that they are passed in the signal forwarding system goes up with ground resolution three-dimensional camera, produce the synchronous control signal of high-resolution camera, finally be input among the CPLD and the DSP in the data handling system of signal forwarding system.
Received signal:
The Y_START signal is a control frame signal, and Y_CLOCK is a field sync signal.SS_START is the exposure commencing signal, and SS_STOP is the exposed frame end signal, is the synchronizing signal of high-resolution camera.
SYS_RESET is that chip restarts signal, and SYS_CLK is a clock signal of system, and ADC_CLK is the digital-to-analogue conversion clock signal, is some system signals.
S_CLK is that the register clock signal is write in serial, and S_DATA is that the register data signal is write in serial, and S_EN is that register beginning energy signal is write in serial, and these three signals come together to write the register in the CMOS chip.
At last, be the problem of system synchronization clock.In embodiments of the present invention, the clock signal of CMOS chip is actually by the CPLD in the signal forwarding system and produces, and recovers out by the RCLK signal.Debug conveniently for single system, made the selector of an alternative,, also can directly produce by crystal oscillator except passing through RCLK.In addition, the SYS_CLK system clock is sent to TCLK on the LVDS, transmits a signal to clock on the LVDS as CMOS.
Fig. 5 represents the structure chart of core processor in the data handling system of the embodiment of the invention.Every processor passes through the signal of pci interface received signal repeater system, and every processor all will receive corresponding 3 or 4 data that high-resolution camera transmitted, and handles accordingly.After these data transmit by pci interface, revert to parallel signal by LVDS serial deserializer again, be transferred to the video port of dsp processor.Every processor can also be communicated by letter with data fusion system with other processor by the gigabit network interface.What this figure represented is the core dsp processor, and except that finishing said function, it also will be responsible for sending the control signal of number of C PLD.These signals are by two-way I
2The C bus, SPI and GPIO interface transmit.Wherein SDAO and SCL0 are I
2The C signal; SPICS#, SPIDO, SPIDI and SPICLK are the SPI signal; GPIO[15:0] be 16 parallel GPIO signals.
RIN-and RIN+ are the LVDS signals that receives, ADC_OUT[0:9] be the view data of ten parallel-by-bits of recover.
The processor that the embodiment of the invention adopted is DSP, and is furnished with corresponding SDRAM, chip collaborative works such as SPI_EEPROM and FLASH.Wherein SDRAM is responsible for lot of data in the storage computation, and SPI_EEPROM and FLASH are responsible for the storage algorithm program.
Fig. 6 is the structured flowchart of the signal forwarding system of the embodiment of the invention for a high-resolution camera.Signal forwarding of the present invention system is responsible for passing on the signal between video acquisition system and the data handling system.And produce the signal of synchronization video acquisition system by CPLD.The data of a high-resolution camera collection at first are transmitted to corresponding three or four processor systems by a LVDS Repeater, wherein a video camera can be given the CPLD chip signal forwarding, CPLD exports the synchronizing signal of six high-resolution cameras under the control of core dsp control signal CON1 and TOF video camera synchronizing signal CON2.This road LVDS holding wire is reduced into parallel signal by LVDS serial deserializer, is transmitted to six high-resolution cameras by RJ45_1-RJ45_6.Other signal had all been done explanation in front.
Fig. 7 represents the complete structure figure of the signal forwarding system of the embodiment of the invention.By six tunnel vision signals that video acquisition system sends, the transponder LVDS Repeater by correspondence sends to respectively among three or four DSP of corresponding data handling system respectively.Wherein one road signal reverts to parallel signal through LVDS serial deserializer, under the control of the synchronizing signal of low resolution three-dimensional camera and core processor DSP, produce the synchronizing signal of all high-resolution cameras by CPLD, pass back in six high-resolution cameras of video acquisition system through LVDS-7 again.What here, the signal transmission was passed through is the RJ45 network interface.
The data fusion system of the embodiment of the invention adopts PC as processing platform.And receiving processor and the resulting data of TOF video camera are carried out computing.Background computer receives the 3D information at single camera visual angle, and they are integrated into complete unique global scene 3D geometric data, and concrete thinking is:
With the 3d space discretization, each sampled point is Δ * Δ * Δ small cubes.
At the 3d space of above-mentioned discretization, to the 3D geometric data of all video camera correspondences, integrate and resample, obtain complete, unique global scene 3D geometric data.
Claims (8)
1. three-dimensional real-time acquisition system based on video camera array is characterized in that comprising:
Video acquisition system adopts video camera array to gather the image information of scene, and each frame image information of gathering is encoded according to time series, and system is sent to data handling system by signal forwarding;
Data handling system is carried out real-time stereoscopic vision to the signal that collects and is handled, and calculates the three-dimensional data information of scene, is sent to data fusion system by network;
The signal forwarding system is forwarded to the image information that collects in the corresponding data handling system, and the operating state of control of video acquisition system;
Data fusion system on the basis of the three-dimensional data information of the different visual angles scene that has obtained, is fused to these three-dimensional datas the three-dimensional data of well-determined whole audience scape.
2. according to claim 1 based on the three-dimensional real-time acquisition system of video camera array, it is characterized in that described video acquisition system comprises:
Many high-resolution cameras collect the high-definition picture of scene;
A low resolution three-dimensional camera can obtain the three-dimensional data image of low resolution;
All video cameras in the described video acquisition system can be placed with different array formats and attitude mode on demand.
As described in the claim 2 based on the three-dimensional real-time acquisition system of video camera array, it is characterized in that each high-resolution camera in the described video acquisition system comprises:
A video acquisition unit is used to gather the image information of scene, and its adopts exposed frame pattern, parameters such as the resolution of may command video camera, IMAQ speed, the exposure of list (many) slope;
A frame coding control unit is encoded according to time series to each two field picture that obtains;
A serial deserializer, data that video acquisition unit is obtained and the control signal of video acquisition unit converted to serial signal by parallel signal are with signal forwarding systems exchange information;
An external-connected port sends data to the signal forwarding system, and the control signal of received signal repeater system.
4. as claimed in claim 1ly it is characterized in that described signal forwarding system comprises based on the video camera array three-dimensional real-time acquisition system:
A plurality of external-connected ports, data that high-resolution camera sends in each external-connected port receiver, video acquisition system, and send control signals to video acquisition system;
A plurality of signal repeaters, wherein every high-resolution camera respectively needs a signal repeater, view data is forwarded in the processor of corresponding data handling system, also needs a signal repeater to be used for transmitting the control signal of control unit in all high-resolution cameras in addition;
A slice serial deserializer recovers the parallel signal in the video acquisition system;
A synchronous control unit, under the control of a core processor in data handling system, all high-resolution cameras in the synchronization video acquisition system;
A plurality of slots, many processors of fixed data treatment system, and receive the wherein control information of a core processor.
Described signal forwarding system accepts the control of a core processor in the data handling system, adjusts information such as the drainage pattern of the video camera in the video acquisition system and resolution.And image information that each high-resolution camera collected is distributed in the data handling system in pairing many processors by transponder.
5. the three-dimensional real-time acquisition system based on video camera array as claimed in claim 1 is characterized in that, described data handling system comprises:
Many processors are used for video data and handle;
A core processor except that participate in calculating with other processor, is also wanted the control unit in the control signal repeater system;
Each processor is handled the image information that many relevant high-resolution cameras are gathered respectively, and accept the 3 d image data that the low resolution three-dimensional camera is gathered, and by network exchange data each other, by principle of computer vision, calculate the scene three-dimensional information of institute corresponding region at last.
6. the three-dimensional real-time acquisition system based on video camera array as claimed in claim 5 is characterized in that, each processor in the described data handling system comprises:
Multi-disc serial deserializer recovers the parallel signal that corresponding each high-resolution camera transmits in the video acquisition system respectively;
Network interface with other processor swap data, and is accepted the image information that the low resolution three-dimensional camera transmits;
A processing unit calculates the three-dimensional information of scene corresponding region.
7. as claim 3 or 4 or 6 described three-dimensional real-time acquisition systems, it is characterized in that the serial deserializer that is adopted is LVDS based on video camera array.
8. the three-dimensional real-time acquisition system based on video camera array as claimed in claim 2 is characterized in that, described low resolution three-dimensional camera is the TOF video camera.
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| CN105403313A (en) * | 2015-12-05 | 2016-03-16 | 中国航空工业集团公司洛阳电光设备研究所 | Infrared area-array scanning imaging system and control method thereof |
| CN106969723A (en) * | 2017-04-21 | 2017-07-21 | 华中科技大学 | High speed dynamic object key point method for three-dimensional measurement based on low speed camera array |
| CN106969723B (en) * | 2017-04-21 | 2019-07-09 | 华中科技大学 | High speed dynamic object key point method for three-dimensional measurement based on low speed camera array |
| CN109470698B (en) * | 2018-09-27 | 2020-02-14 | 钢研纳克检测技术股份有限公司 | Cross-scale inclusion rapid analysis instrument and method based on photomicrography matrix |
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| CN110018153B (en) * | 2019-04-23 | 2021-11-02 | 钢研纳克检测技术股份有限公司 | Full-automatic scanning, positioning and quantitative analysis system for global components of large-scale samples |
| CN111050155A (en) * | 2020-01-15 | 2020-04-21 | 华南理工大学 | Binocular sensing method capable of realizing hardware acceleration |
| CN112561874A (en) * | 2020-12-11 | 2021-03-26 | 杭州海康威视数字技术股份有限公司 | Blocking object detection method and device and monitoring camera |
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